A task should have the following structure:
void vATaskFunction( void *pvParameters )
{
for( ;; )
{
-- Task application code here. --
}
/* Tasks must not attempt to return from their implementing
function or otherwise exit. In newer FreeRTOS port
attempting to do so will result in an configASSERT() being
called if it is defined. If it is necessary for a task to
exit then have the task call vTaskDelete( NULL ) to ensure
its exit is clean. */
vTaskDelete( NULL );
}
The type TaskFunction_t is defined as a function that returns void and takes a void pointer as its only parameter. All functions that implement a task should be
of this type. The parameter can be used to pass information of any type into the task - this is demonstrated by several of the
standard demo application tasks.
Task functions should never return so are typically implemented as a continuous loop. Again, see the RTOS demo application for numerous examples.
Tasks are created by calling xTaskCreate() or xTaskCreateStatic(), and deleted by calling vTaskDelete().
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Task Creation Macros
Task functions can optionally be defined using the portTASK_FUNCTION and portTASK_FUNCTION_PROTO macros. These macro
are provided to allow compiler specific syntax to be added to the function definition and prototype respectively. Their use
is not required unless specifically stated in documentation for the port being used (currently only the PIC18 fedC port).
The prototype for the function shown above can be written as:
void vATaskFunction( void *pvParameters ); Or,
portTASK_FUNCTION_PROTO( vATaskFunction, pvParameters );
Likewise the function above could
equally be written as:
portTASK_FUNCTION( vATaskFunction, pvParameters )
{
for( ;; )
{
-- Task application code here. --
}
}
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